TY  - CONF
ID  - eprints4022
EP  - 2510
T2  - 53rd Conference on Decision and Control
M2  - Los Angeles, CA, USA
A1  - Verschueren, Robin
A1  - De Bruyne, Stijn
A1  - Zanon, Mario
A1  - Frasch, Janick V.
A1  - Diehl, Moritz
SN  - 0191-2216
PB  - IEEE
SP  - 2505
N2  - This paper addresses the real-time control of autonomous vehicles under a minimum traveling time objective. Control inputs for the vehicle are computed from a nonlinear model predictive control (MPC) scheme. The time-optimal objective is reformulated such that it can be tackled by existing efficient algorithms for real-time nonlinear MPC that build on the generalized Gauss-Newton method. We numerically validate our approach in simulations and present a real-world hardware setup of miniature race cars that is used for an experimental comparison of different approaches.
TI  - Towards time-optimal race car driving using nonlinear MPC in real-time
AV  - restricted
Y1  - 2014///
UR  - http://doi.org/10.1109/CDC.2014.7039771
ER  -